Joint function monitoring system

ABSTRACT

The present disclosure provides a joint function monitoring device. The joint function monitoring device comprises a bottom base capable of being removably attached to a hinge of an assistive device, a shaft comprising a central pan coupled to the bottom base, and a distal part, a first sensor coupled to the central part of the shaft for monitoring a rotation angle of the shaft, and a belt module coupled to the distal pan of the shaft and capable of being removably attached to a support assembly of the assistive device. A length of the belt module is adjustable.

FIELD OF THE INVENTION

The present disclosure relates to a joint function monitoring system.Specifically, the present disclosure relates to a joint functionmonitoring device for the joint function monitoring system.

BACKGROUND OF THE INVENTION

Rehabilitation are therapeutic approaches for restoring functions of oneor more parts of human body. The rehabilitation of joint aims to restorethe function of joints after injury, impairment, invasive treatment, andsurgery. These conditions may include: neuromuscular damage,musculoskeletal damage, degenerative disease, joint replacementprocedures, repairing bone fracture of the arm or the leg, orarthroscopic surgeries for the knee or the hip.

Joint orthoses are commonly used in joint rehabilitation for assistingthe movement and providing protection for the joint. The joint orthosescan be a joint brace or a joint splint. Knee braces are one of the manycommercially available joint orthoses for the rehabilitation of the kneejoint. The EPO™ Post-Op Knee Brace manufactured by Breg, Inc. is apost-operative knee brace with adjustable tabs to fit different legsizes. The EPO™ Post-Op Knee Brace includes a hinge with extension andflexion locks to limit the movement of the knee, and at least twosupport assemblies extending from the hinge to be attached to thepatients' leg. During the rehabilitation process wherein the patient iswearing the knee brace, the rehabilitation specialist and the physicianmay use the extension and flexion locks.

After the knee braces are worn by the patient, it would require therehabilitation specialist and the physician to examine movements of theknee, in order to evaluate the rehabilitation. However, knee movementrecords from the patient's notes, retrospective interviews, andappointments may be incorrect. Therefore, a real-time monitoring andanalysis of knee movements are required to provide correct records ofthe knee movement.

To retrieve knee movement information, some knee braces are combinedwith sensors. A knee brace combined with electrical stimulation module,sensors, and feedback mechanism is proposed in Mavroidis, C. et al(Smart portable rehabilitation devices. Journal of NeuroEngineering andRehabilitation (2005) 2(1), 18). The electrical stimulation informationis transmitted to a control box to monitor the muscle activity of theknee, and to provide additional electrical stimulation when possible.

X4™ Smart Brace is a supportive knee brace that monitors the movementsof the knee in real-time. X4™ Smart Brace is equipped with a sensor formonitoring flexion and extension of the knee, and a transmission moduleto transmit a series of flexion or extension information to an externaldevice, and the external device can be a smartphone or a computer. Theexternal device then stores the information for further evaluation.

The solution proposed by Mavroidis, C. et al and X4™ Smart Braceincorporate the sensor in the knee brace. However, for a plus-sizepatient or a pediatric patient, if the sensor-incorporated knee bracedoes not fit, then this sensor-integrated knee brace would not beapplicable for these patients. Also, if a patient wish to switch to thesensor-integrated knee brace from a knee brace without sensors, thepatient may need to purchase a brand-new sensor-integrated knee braceand discard the previous knee brace. These are factors that may increasethe cost of the joint rehabilitation for the patient.

BRIEF SUMMARY OF THE INVENTION

It is an object of the present disclosure to provide a joint functionmonitoring device that can be removably attached to a joint orthosis.The modular design of the joint function monitoring device providesgreater flexibility for the patient and can be installed onto jointorthoses of various shapes and sizes.

It is also an objective of the present disclosure to provide a jointfunction monitoring device that measures and analyzes joint movements inreal-time.

It is also an object of the present disclosure to provide a jointfunction monitoring system comprising an assistive device for supportinga joint and a joint function monitoring device for sensing movements ofthe joint.

An embodiment of the present disclosure provides a joint functionmonitoring device. The joint function monitoring device comprises abottom base capable of being removably attached to a hinge of anassistive device, a shaft comprising a central part coupled to thebottom base, and a distal pan, a first sensor coupled to the centralpart of the shaft for monitoring a rotation angle of the shaft, and abelt module coupled to the distal part of the shaft and capable of beingremovably attached to a support assembly of the assistive device.Wherein a length of the belt module is adjustable.

In a preferred embodiment, the belt module comprises one or more linksand a link base on a distal end of the belt module, the link base iscoupled to at least one of the links and the support assembly of theassistive device, and at least one of the links is removably coupled tothe distal part of the shaft.

In a preferred embodiment, the amount of the links is in a range of oneto six.

In a preferred embodiment, the joint function monitoring device furthercomprises a housing coupled to the bottom base, and a control moduleaccommodated by the housing.

In a preferred embodiment, the control module further comprises acontroller communicatively coupled to the first sensor, and a secondsensor communicatively coupled to the controller.

In a preferred embodiment, the joint function monitoring device furthercomprises a locator, when the bottom base is attached to the hinge ofthe assistive device, the locator is beneath the housing and alignedwith the hinge.

In a preferred embodiment, the shaft further comprises an axis on thecentral part, and a center of the rotation of the shaft is the axis, andthe rotation angle is about 0°-360°.

In a preferred embodiment, the axis is coupled to the first sensor.

Another embodiment of the present disclosure provides a joint functionmonitoring system. The joint function monitoring system comprises anassistive device and a joint function monitoring device. The assistivedevice comprises a hinge capable of being aligned with a joint of amammalian body, and a support assembly capable of being attached to apart of the mammalian body adjacent to the joint. The joint functionmonitoring device comprises a bottom base removably attached to thehinge of the assistive device, a shaft comprising a central part coupledto the bottom base and a distal part, a first sensor coupled to thecentral part of the shaft for monitoring a rotation angle of the shaft,and a belt module coupled to the distal part of the shaft and capable ofbeing removably attached to the support assembly of the assistivedevice. Wherein a length of the belt module is adjustable.

In a preferred embodiment, the joint is an ankle joint, a knee joint, ahip joint, a shoulder joint, an elbow joint, or a wrist joint.

In a preferred embodiment, the assistive device is an ankle orthosiswhen the joint is the ankle joint, a knee orthosis when the joint is theknee joint, a hip orthosis when the joint is the hip joint, a shoulderorthosis when the joint is the shoulder joint, or a wrist orthosis whenthe joint is the wrist joint.

In a preferred embodiment, the pan of the mammalian body adjacent to thejoint can be a foot, a leg, a hip, a shoulder, an arm, or a hand.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings illustrate one or more embodiments of thepresent disclosure and, together with the written description, explainthe principles of the present disclosure. Wherever possible, the samereference numbers are used throughout the drawings referring to the sameor like elements of an embodiment.

FIG. 1 is a perspective view of a first joint function monitoringsystem, in accordance with an embodiment of the present disclosure.

FIG. 2 is a perspective view of an assistive device, in accordance withan embodiment of the present disclosure.

FIG. 3 is a perspective view of a joint function monitoring device, inaccordance with an embodiment of the present disclosure.

FIG. 4 is an exploded view of the joint function monitoring device, inaccordance with an embodiment of the present disclosure.

FIG. 5 is an exploded view of some of the elements of the joint functionmonitoring device, in accordance with an embodiment of the presentdisclosure.

FIG. 6 is another exploded view of some of the elements of the jointfunction monitoring device, in accordance with an embodiment of thepresent disclosure.

FIG. 7 is a side view of some of the elements of the joint functionmonitoring device, in accordance with an embodiment of the presentdisclosure.

FIGS. 8A-8D are illustrations of a first part of an installation processfor the joint function monitoring device to be attach d onto theassistive device, in accordance with an embodiment of the presentdisclosure.

FIGS. 9A-9D are illustrations of a second part of the installationprocess for the joint function monitoring device to be attached onto theassistive device, in accordance with an embodiment of the presentdisclosure.

FIGS. 10A and 10B are illustrations of an extension and a flexion of thefirst joint function monitoring system, in accordance with an embodimentof the present disclosure.

FIG. 11 is a perspective view of a second joint function monitoringsystem, in accordance with an embodiment of the present disclosure.

FIG. 12 is a perspective view of another assistive device, in accordancewith embodiment of the present disclosure.

FIG. 13 is a perspective vies of a third joint function monitoringsystem, in accordance with an embodiment of the present disclosure.

FIG. 14 is a perspective view of a fourth joint function monitoringsystem worn by a subject, in accordance with an embodiment of thepresent disclosure.

FIG. 15 is a perspective view of a fifth joint function monitoringsystem worn by the subject, in accordance with an embodiment of thepresent disclosure.

In accordance with common practice, the various described features arenot drawn to scale and are drawn to emphasize features relevant to thepresent disclosure. Like reference characters denote like elementsthroughout the figures and text.

DETAILED DESCRIPTION OF THE PREEFERRED EMBODIMENTS

The present disclosure will now be described more fully hereinafter withreference to the accompanying drawings illustrating various exemplaryembodiments of the invention. The present disclosure may, however, beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein. Rather, these embodiments providedso that this disclosure will be thorough and complete and will fully thescope of the disclosure to those skilled in the art. Like referencenumerals refer to like elements throughout.

Previous descriptions are only embodiments of the present disclosure andare not intended to limit the scope of the present disclosure. Manyvariations and modifications according to the claims and specificationof the disclosure are still within the scope of the claimed disclosure.In addition, each of the embodiments and claims does not have to achieveall the advantages or characteristics disclosed. Moreover, the abstractand the title only serve to facilitate searching patent documents andare not intended in any way to limit the scope of the claimeddisclosure.

The term “subject” refer to an individual mammalian wearing one part orall parts of the devices provided by the present disclosure. The terms“physician, ” “rehabilitation specialist,” and “user” areinterchangeable between each other, and refer to one or more individualsassisting the subject to wear one part or all parts of the devicesprovided by die present disclosure. The user, physician, orrehabilitation specialist may evaluate physical rehabilitation outcomeof the subject by using the devices provided by the present disclosure.The “subject” and the “user” can be different individuals or the sameindividual.

Referring to FIG. 1, a first joint function monitoring system isprovided in accordance with an embodiment of the present disclosure. Thefirst joint function monitoring system 1 comprises an assistive device200 and a joint function monitoring device 100 attached on the assistivedevice 200. The assistive device 200 can be worn by a mammalian subject,and corresponds to shapes of a joint and body parts adjacent to thejoint of the mammalian subject. The joint can be an ankle joint, a kneejoint, a hip joint, a shoulder joint, an elbow joint, or a wrist joint.The body parts adjacent to the joint can be a foot, a leg, a hip. ashoulder, an arm, or a hand. The assistive device 200 is able to assistmovements of the joint and the adjacent body parts, such as extension,flexion, or rotation. The assistive device 200 can be an ankle orthosiswhen the joint is the ankle joint, a knee orthosis when the joint is theknee joint, a hop orthosis when the joint is the hip joint, a shoulderorthosis when the joint is the shoulder joint, or a wrist orthosis whenthe joint is the wrist joint. The joint orthosis can be a joint brace ora joint sprint. Preferably, the assistive device 200 is a knee brace.The joint function monitoring device 100 can be manually removed orattached onto the assistive device 200 by the mammalian subject,therefore it is removably attached on the assistive device 200.

Referring to FIG. 2, the assistive device 200 is provided in accordancewith an embodiment of the present disclosure. The assistive device 200comprises a hinge 210 and 2 support assemblies 220 a and 220 b coupledto an upper part and a lower part of the hinge 210. The supportassemblies 220 a and 220 b are fixation elements of the assistive device200, and may comprise bars or bands. The bars or bands of the supportassemblies 220 a and 220 b may have an elongated shape to conform withthe shape of the body parts adjacent to the joint, The supportassemblies 220 a and 220 b may be attached to the body part adjacent tothe joint by Velcro®, buttons, or straps, therefore the assistive device200 can be firmly worn by the mammalian subject. The support assemblies220 a and 220 b can be made of soft, semi-rigid, or rigid materials thatis durable but also able to sustain persistent contact with thesubject's skin. The hinge 210 provides extension or flexion movementswithin the assistive device 200, and may comprise gears or hydraulicdevices for the extension or flexion movements. When the assistivedevice 200 is worn by the mammalian subject, the hinge 210 is alignedwith the joint. Thus, when the mammalian subject bend the joint, theassistive device 200 is bended, and the support assemblies 220 a and 220b will not form a straight line as illustrated in FIG. 2. The assistivedevice 200 can be composed of plastic material such as polyoxymethylene(POM), metal materials such as steel or aluminum alloy, or a combinationof plastic and metal materials. The assistive device 200 should besturdy enough to withstand the movement of the joint without strain orfailure.

Referring to FIG, 3, the joint function monitoring device 100 isprovided in accordance with an embodiment of the present disclosure. Thejoint function monitoring device 100 comprises a housing 140, a shaft120 attached on the housing 140, a first sensor (not shown) coupled tothe shaft 120, and a belt module 130 also coupled to the shaft 120. Thehousing 140 accommodates several internal components of the jointfunction monitoring device 100 and provides protection to the internalcomponents. The shaft 120 is rotatable relative to the housing 140. Thebelt module 130 can be coupled to the support assembly 220 a or 220 b ofthe assistive device 200.

Referring to FIG. 4, an exploded view of the joint function monitoringdevice 100 is provided in accordance with an embodiment of the presentdisclosure. The belt module 130 comprises a link base 132 and a link 131coupled to the link base 132. The link base 132 is installed onto thesupport assembly 220 a or 220 b. Specifically, the link base 132 isremovably attache d to the support assembly 220 a or 220 b. The beltmodule 130 may comprise more than one link 131, depending on the shapeor size of the assistive device 200. The housing 140 comprises an upperhousing 141 having an opening 1411 and a hole 1412 and covering an upperside and a part of a lateral side of the joint unction monitoring device100, a button 142 for a user to interact with the internal componentsaccommodated inside the housing 140 and fits into the hole 1412 of theupper housing 141, a middle housing 143 providing spaces to accommodatebatteries and covering another part of the lateral side and a part of abottom side of the joint function monitoring device 100, and a bottom144 supporting the batteries and covering most of the bottom side of thejoint function monitoring device 100 and contacting the assistive device200 when the joint function monitoring device 100 is attached to theassistive device 200. The upper housing 141 generally has an egg-shape,an elliptical shape, or a compound shape of a rectangle and twosemi-circle, and is curved on an edge. To conform with the shape of theupper housing 141, the middle housing 143 may also have an egg-shape, anelliptical shape, or the compound shape of a rectangle and twosemi-circle.

The shaft 120 comprises a central pan 121 for coupling with the upperhousing 141, Specifically, the central part 121 of the shaft 120comprises a coupling structure 1211 that is complementary to theopening, 1411 of the upper housing 141. The central part 121 furthercomprises an axis (not shown) extending downwardly from the couplingstructure 1211 and goes through the opening 1411 of the upper housing141. The first sensor 170 is coupled to the axis of the central part 121and housed by the upper housing 141.

The bottom 144 can be removed by the user to install or remove thebatteries. A battery circuit 161 has electrical connection with thebatteries and is coupled to a control module 150. Another batterycircuit 162 also has electrical connection with the batteries and iscoupled to the middle housing 143. A bottom base 110 is capable of beingremovably attached to the hinge 210 of the assistive device 200.

Referring to FIG. 5, an exploded view of the joint function monitoringdevice 100 with some of the elements is provided in accordance with anembodiment of the present disclosure. When the user is assembling thejoint function monitoring device 100, the upper housing 141, the button142, the control module 150 (not shown), the battery circuit 161 and162, the middle housing 143 (not shown), the bottom 144 (not shown), thefirst sensor 170 (not shown), and shaft 120 are combined into a modularpiece; wherein the bottom base 110, the link 131, and the link base 132are usually separated from the modular piece. The button 142 isprotruding from the hole 1412 of the upper housing 141 and the user orthe subject may press the button 142 to interact with the internalcomponents, preferably to interact with the control module 150. Theshaft 120 comprises the central part 121 coupled to the opening 1411 ofthe upper housing 141 and a distal part 122 extending from the centralpart 121.

Referring to FIG. 6, another exploded view of the joint functionmonitoring device 100 with some of the elements is provided inaccordance with an embodiment of the present disclosure. In FIG. 6, theupper housing 141, the middle housing 143, and the bottom 144 areomitted to show details of other elements. The coupling, structure 1211is complementary to an opening 151 at a center of the control module150. The distal part 122 comprises a fork end 1221 that is neighboringthe edge of the upper housing 141 and is structurally complementary to aplurality of receiving portions 1311 of the link 131. Similarly, thelink 131 also comprises a fork end 1312 that is structurallycomplementary to a receiving portion 1321 of the link, base 132, Thelink base 132 further comprises an attachment portion 1322 for beingremovably attached to the support assembly 220 a or 220 b of theassistive device 200.

The fork end 1312 of the link 131 may have two protrusions and thereceiving portion 1321 of the link base 132 may have two recesses toaccommodate the protrusions of the fork end 1312, as illustrated in FIG.6. Conversely, the fork end 1312 of the link 131 may have two recessesand the receiving portions 1321 of the link base 132 may have twoprotrusions to insert into the recesses of the fork end 1312.

Referring to FIG. 7, a side view of the elements in FIG. 6 is provided,in accordance with an embodiment of the present disclosure. The distalpart 122 has a bending shape, with the fork end 1221 bending towards thebelt module 130. The central part 121 of the shaft 120 further comprisesan axis 1212 extending downwardly from the coupling structure 1211 forcoupling with the control module 150. The axis 1212 may be coupled tothe opening 151 of the control module 150. Also, the axis 1212 may beconfigured to pass through the opening 151. The first sensor 170 iscoupled to the axis 1213 of the shaft 130 and can be communicativelycoupled to the control module 150. Specifically, the first sensor 170can be installed on an upper side or a lower side of the control module150. The axis 1212 is a center of a rotation of the shaft 120. When theshaft 120 is rotated, the first sensor 170 coupled to the axis 1212 willmonitor a rotation angle of the shaft 120, then the rotation angleinformation will be transmitted to a controller (not shown) on thecontrol module 150, The controller may process the rotation angleinformation and transmit the information to a computing apparatus. Whenthe first joint function monitoring system 1 is worn by the subject andthe shaft 120 is rotated along with the joint movement of the subject,the rotation angle represents a flexion or extension movement of thejoint, therefore the physician or rehabilitation specialist may evaluaterecovering progress or pathological conditions of the joint. The usermay also evaluate a motor ability of the subject or conduct a functionaldiagnosis for the subject, when the first joint function monitoringsystem 1 is worn by the subject and the shaft 120 is rotated along withthe joint movement. Thus, the joint function monitoring device 100 isable to measure and analyze joint movements in real-time by the firstsensor 170 and the control module 150.

The computing apparatus may be a part of the control module 150, oranother device that is not in contact with the assistive device 200 orthe joint function monitoring device 100. The computing apparatus can hea central processing unit (CPU) or a microprocessing unit (MPU), or adevice comprising the CPU or the MPU, Preferably, the computingapparatus is a mobile device.

The control module 150 comprises the controller, a switch (not shown),and a second sensor (not shown). The switch is connected to the button142, and the user may press the button 142 to turn the joint functionmonitoring device 100 on or off. The button 142 may also connect toother functions embedded in the control module 150, such asmode-switching or recording. The second sensor on the control module 150measures a tilting angle of the joint function monitoring device 100when it is attached on the assistive device 200. The tilting angle is anangle between the assistive device 200 and the gravity on the coronalplane, whereas the extension and flexion are movements of the assistivedevice 200 on the sagittal plane.

The joint function monitoring device 100 comprises two links 131 inFIGS. 6 and 7, but the joint function monitoring device 100 may alsocomprise only one link 131. The amount of the links 131 can be from oneto six. The more links 131 represents longer belt module 130. Thisconfiguration enables the belt module 130 to have an adjustable length.Because assistive devices may differ in shape and size, therefore thejoint function monitoring device 100 having adjustable length is able tobe attached on assistive devices of different shape and size. Theadjustability of the device 100 enables the physician or rehabilitationspecialist to devise a flexible rehabilitation plan for the subject. Ifthe user wishes to retrieve information of the rotation angle of thejoint from the device 100 of the present disclosure, the subject mayremain wearing their original assistive devices, such as knee brace orhip brace, and attach the device 100 onto the original assistivedevices. In this way, the equipment cost for the subject would be muchlower than purchasing a brand new assistive device, and the subject willhave a higher compliance when wearing the original device than switchingto the brand new assistive device.

Referring to FIGS. 8A-8D, a first part of an installation process of thejoint function monitoring device 100 is provided in accordance with anembodiment of the present disclosure. In FIG. 8A, a locator 180 isprovided to be placed onto the hinge 210. The locator 180 can be a pieceof cardboard or plastic board having an edge corresponding to the shapeof the hinge 210. The locator 180 comprises an opening 181, and theopening 181 has a compound shape of 2 semi-circle combined with arectangle, therefore the opening 181 has a longitudinal axis. Whenplacing the locator 180 onto the hinge 210, two ends of the longitudinalaxis of the opening 181 must be aligned with directions of the supportassemblies 220 a and 220 b of the assistive device 288.

In FIG. 8B, the bottom base 110 has a shape that is identical to theopening 181. The user has to press the bottom base 110 when it is placedonto the opening 181, therefore a bottom side of the bottom base havingadhesives is attached onto the hinge 210. In FIG. 8C, the modular piece(as illustrated in FIG. 5) is combined with the bottom base 110,Specifically, the bottom 144 of the modular piece is coupled to thebottom base 110. In FIG. 8D, when the modular piece is installed on thehinge 210, the locator 180 can be beneath the bottom 144. In FIG. 8D,the locator 180 can be removed before the bottom 144 of the modularpiece is combined with the bottom base 110.

Referring to FIGS. 9A-9D, a second part of the installation process ofthe joint function monitoring device 100 is provided in accordance withan embodiment of the present disclosure. In FIG. 9A, a distance Lbetween the shaft 120 and the supply assembly 220 b is measured by theuser to determine an amount of the links 131 to be coupled to the shaft120. In FIGS. 9B and 9C, the links 131 and the link base 132 areprovided. More than one link 131 may be needed to lengthen the beltmodule 130. The links 131 are first coupled to the distal part 122 ofthe shaft 120, the link base 132 are then coupled to one of the links131 in FIG. 9D. The link base 132 comprises a bottom side with adhesive.In FIG. 9D, the link base 132 is pressed by the user, the adhesive onthe bottom side enables the attachment of the link base 132 to thesupport assembly 220 b. The installation of the joint functionmonitoring device 100 onto the assistive device 200 is thus, completed.

Referring to FIG. 10A, an extension of the first joint functionmonitoring system 1 is provided in accordance with an embodiment of thepresent disclosure. In FIG. 10A, an angle between the support assembly220 a and 220 b is 0°. An extension angle of 0° can be monitored by thefirst sensor 170 in the joint function monitoring device 100.

Referring to FIG. 10B, a flexion of the first joint function monitoringsystem 1 is provided in accordance with an embodiment of the presentdisclosure. In FIG. 10B, the support assembly 220 a is bended for 90°.When the subject is wearing the first joint function monitoring system1, the bending of the support assembly 220 a is most likely achieved bya flexion of the leg of the subject. The shaft 120 is rotated but thehousing 140 is remained on the same direction and stationary relative tothe hinge 210. A flexion angle of 90° is monitored by the first sensor170 of the joint function monitoring device 100 and transmitted to thecomputing apparatus. The computing apparatus or the user is then able tocompare the flexion angle and the extension angle and evaluate thefunction of the joint.

Referring to FIG. 11, a second joint function monitoring system 2 isprovided in accordance with an embodiment of the present disclosure. Thesecond joint function monitoring system 2 comprises an assistive device300 and the joint function monitoring device 100 removably attached tothe assistive device 300. The assistive device 300 and the assistivedevice 200 can be of different size and shape, however both of themcould be removably attached by the joint function monitoring device 100.The joint function monitoring device 100 is able to be installed ontodifferent assistive devices, this reduces the cost of jointrehabilitation for the subject wherein the subject would not need toswitch to a different assistive device when using the joint functionmonitoring device 100 of the present disclosure. The modular design ofthe joint function monitoring device 100 also provides greaterflexibility for the subject for it could be installed on assistivedevices of various shapes and sizes.

Referring to FIG 12, a perspective view of the assistive device 300 isprovided in accordance with an embodiment of the present disclosure. Theassistive device 300 can be worn by the mammalian subject, andcorresponds to shapes of the joint and body parts adjacent to the jointof the mammalian subject. The joint can be an ankle joint, a knee joint,a hip joint, a shoulder joint, an elbow joint, or a wrist joint. Thebody parts adjacent to the joint can be a foot, a leg, a hip, ashoulder, an arm, or a hand. The assistive device 300 is able to assistmovements of the joint and the adjacent body parts, such as extension,flexion, or rotation. The assistive device 300 can be an ankle orthosiswhen the joint is the ankle joint, a knee orthosis when the joint is theknee joint, a hop orthosis when the joint is the hip joint, a shoulderorthosis when the joint is the shoulder joint, or a wrist orthosis whenthe joint is the wrist joint. Preferably, the assistive device 300 is aknee brace.

The assistive device 300 comprises a hinge 310 capable of beingremovably attached by the joint function monitoring device 100, andsupport assemblies 320 a and 320 b coupled to an upper part and a lowerpart of the hinge 310. The support assemblies 320 a and 320 b arefixation elements of the assistive device 300, and may comprise bars orbands. The support assemblies 320 a and 320 b may be attached to thebody part adjacent to the joint by Velcro®, buttons, or straps,therefore the assistive device 300 can be firmly worn by the mammaliansubject. The support assemblies 320 a and 320 b can be made of soft,semi-rigid, or rigid materials that is durable but also able to sustainpersistent contact with the subject's skin. The hinge 310 providesextension or flexion movements within the assistive device 300. When theassistive device 300 is worn by the mammalian subject, the hinge 310 isaligned with the joint. Thus, when the mammalian subject bends thejoint, the assistive device 300 is bent, and the support assemblies 320a and 320 b will not form a straight line as illustrated in FIG 12.

Referring to FIG 13, a third joint function monitoring system 3 isprovided in accordance with an embodiment of the present disclosure. Thethird joint function monitoring system 3 comprises an assistive device400, and the joint function monitoring device 100 removably attached tothe assistive device 400. The assistive device 400, the assistive device300, and the assistive device 200 can be of different size and shape,however they amid be removably attached by the joint function monitoringdevice 100. Specifically, the joint function monitoring device 100 isattached to the assistive device 400 by 3 of the links 131 and the linkbase 132 in the third joint function monitoring system 3, whereas thejoint function monitoring device 100 is attached to the assistive device300 by 2 of the links 131 and the link base 132 in the joint functionmonitoring system 2. This variable-link configuration enables the jointfunction monitoring device 100 to have different lengths, and can beflexibly attached to assistive devices of different shapes or sizes.

Referring to FIG. 14, a fourth joint function monitoring system 4 wornby the subject is provided in accordance with an embodiment of thepresent disclosure. The fourth joint function monitoring system 4comprises an assistive device 500 and the joint function monitoringdevice 100 removably attached to the assistive device 500. The assistivedevice 500 can be worn on a different body part than the body partsbeing worn on the assistive device 400, 300, and 200. The assistivedevice 500 can be an orthosis for the elbow joint. The assistive device500 is worn by the subject and corresponds to the shape of the elbowjoint and an arm of the subject.

Referring to FIG 15, a fifth joint function monitoring system 5 worn bythe subject is provided in accordance with an embodiment of the presentdisclosure. The fifth joint function monitoring system 5 comprises anassistive device 600 and the joint monitoring device 100 removablyattached to the assistive device 600. The assistive device 600 can beworn on a different body part than the body parts being worn on theassistive device 500, 400, 300, and 200. The assistive device 600 can bean orthosis for the ankle joint. The assistive device 600 is worn by thesubject and corresponds to the shape of the ankle joint, a leg and afoot of the subject. FIG 14 and 15 has demonstrated the flexibility, ofthe joint function monitoring device 100: it can be installed ontoassistive devices for the elbow joint or the ankle joint.

The rotation angle of the shaft 120 can be from 0° to 180° when thefirst joint function monitoring system 1, the second joint functionmonitoring system 2, or the third joint function monitoring system 3 isworn on the knee joint of a bipedal mammalian subject. The rotationangle of the shaft 120 can also be from 0° to 180° when the fourth jointfunction monitoring system 4 is worn on the shoulder joint, or when thefifth joint function monitoring system 5 is worn on the ankle joint.However, the rotation angle of the shaft 120 can be from 0° to 360′ whenthe joint function monitoring device 100 is attached on anotherrehabilitation device that can be worn on other joints of the bipedalmammalian subject, or another rehabilitation device worn by othersubjects having a joint that is capable of rotating for 360°. Theshoulder joint of human is capable to rotate 360°, therefore therotation angle of the shaft can be from 0 to 360° when the jointfunction monitoring device 100 is attached on a shoulder orthosis andthe above combination is worn on the shoulder joint of a human subject.

Previous descriptions are only embodiments of the present disclosure andare not intended to limit the scope of the present disclosure. Manyvariations and modifications according to the claims and specificationof the disclosure are still within the scope of the claimed disclosure.In addition, each of the embodiments and claims does not have to achieveall the advantages or characteristics disclosed. Moreover, the abstractand the title only serve to facilitate searching patent documents andare not intended in any way to limit the scope of the claimeddisclosure.

What is claimed is
 1. A joint function monitoring device, comprising: a bottom base capable of being removably attached to a hinge of an assistive device; a shaft comprising a central part coupled to the bottom base, and a distal part; a first sensor coupled to the central pan of the shaft for monitoring a rotation angle of the shaft; and a belt module coupled to the distal part of the shaft and capable of being removably attached to a support assembly of the assistive device, wherein a length of the belt module is adjustable.
 2. The joint function monitoring device of claim 1, wherein the belt module comprises one or more links and a link base on a distal end of the belt module, the link base is coupled to at least one of the links and the support assembly of the assistive device, and at, least one of the links is removably coupled to the distal part of the shaft.
 3. The joint function monitoring device of claim 2, wherein an amount of the links is in a range of one to six.
 4. The joint function monitoring device of claim 1, further comprising a housing coupled to the bottom base, and a control module accommodated by the housing.
 5. The joint function monitoring device of claim 4, wherein the control module further comprises a controller communicatively coupled to the first sensor, and a second sensor communicatively coupled to the controller.
 6. The joint function monitoring device of claim 4, further comprising a locator, wherein when the bottom base is attached to the hinge of the assistive device, the locator is beneath the housing and aligned with the hinge.
 7. The joint function monitoring device of claim 1, wherein the shaft further comprises an axis on the central part, and a center of the rotation of the shaft is the axis, and the rotation angle is about 0°-360°.
 8. The joint function monitoring device of claim 7, wherein the axis is coupled to the first sensor.
 9. A joint function monitoring system, comprising: an assistive device comprising: a hinge capable of being aligned with a joint of a mammalian body; and a support assembly capable of being attached to a part of the mammalian body adjacent to the joint; and a joint function monitoring device comprising: a bottom base removably attached to the hinge of the assistive device; a shaft comprising a central part coupled to the bottom base, and a distal part; a first sensor coupled to the central part of the shaft for monitoring a rotation angle of the shaft; and a belt module coupled to the distal part of the shaft and capable of being removably attached to the support assembly of the assistive device, wherein a length of the belt module is adjustable.
 10. The joint function monitoring system of claim 9, wherein the belt module comprises one or more links and a link base on a distal end of the belt module, the link base is coupled to at least one of the links and the support assembly of the assistive device, and at least one of the links is removably coupled to the distal part of the shaft
 11. The joint function monitoring system of claim 10, wherein an amount of the links is in a range of one to six.
 12. The joint function monitoring system of claim 9, wherein the joint function monitoring device further comprises a housing coupled to the bottom base, and a control module accommodated by the housing.
 12. joint function monitoring system of claim 12, wherein the control module further comprises a controller communicatively coupled to the first sensor, and a second sensor communicatively coupled to the controller.
 14. The joint function monitoring system of claim 12, wherein the joint function monitoring device further comprises a locator, wherein when the bottom base is attached to the hinge of the assistive device, the locator is beneath the housing and aligned with the hinge.
 15. The joint function monitoring system of claim 9, wherein the shaft further comprises an axis on the central part, and a center of the rotation of the, shaft is the axis, and the rotation angle of the shaft is about 0°-360°.
 16. The joint fiction monitoring system of claim 15, wherein the axis is coupled to the first sensor.
 17. The joint function monitoring system of claim 9, wherein the joint is an ankle joint, a knee joint, a hip joint, a shoulder joint, an elbow joint, or a wrist joint.
 18. The joint function monitoring system of claim 17, wherein the assistive device is an ankle orthosis when the joint is the ankle joint, a knee orthosis when the joint is the knee joint, a hip orthosis when the joint is the hip joint, a shoulder orthosis when the joint is the shoulder joint, or a wrist orthosis when the joint is the wrist joint.
 19. The joint function monitoring system of claim 9, wherein the part of the mammalian body adjacent to the joint can be a foot, a leg a hip, a shoulder, an arm, or a hand. 